distance_to_disparityT_distance_to_disparityDistanceToDisparityDistanceToDisparitydistance_to_disparity（算子）

名称

distance_to_disparityT_distance_to_disparityDistanceToDisparityDistanceToDisparitydistance_to_disparity — 在经过校正的立体系统中将距离值变换为视差。

签名

描述

distance_to_disparitydistance_to_disparityDistanceToDisparityDistanceToDisparityDistanceToDisparitydistance_to_disparity transforms a distance of a 3D point to the binocular stereo system into a disparity value. The cameras of this system must be rectified and are defined by the rectified internal parameters CamParamRect1CamParamRect1CamParamRect1CamParamRect1camParamRect1cam_param_rect_1 of the camera 1 and CamParamRect2CamParamRect2CamParamRect2CamParamRect2camParamRect2cam_param_rect_2 of the camera 2 and the external parameters RelPoseRectRelPoseRectRelPoseRectRelPoseRectrelPoseRectrel_pose_rect. The latter specifies the relative pose of both camera systems to each other by defining a point transformation from the rectified camera system 2 to the rectified camera system 1. These parameters can be obtained from the operator calibrate_camerascalibrate_camerasCalibrateCamerasCalibrateCamerasCalibrateCamerascalibrate_cameras 和 gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMapGenBinocularRectificationMapgen_binocular_rectification_map。The distance value is passed in DistanceDistanceDistanceDistancedistancedistance and the resulting disparity value DisparityDisparityDisparityDisparitydisparitydisparity is defined by the column difference of the image coordinates of two corresponding features on an epipolar line according to the equation 。

注意

If using cameras with telecentric lenses, the DistanceDistanceDistanceDistancedistancedistance is not defined as the distance of a point to the camera but as the distance from the point to the plane, defined by the y-axes of both cameras and their baseline (see gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMapGenBinocularRectificationMapgen_binocular_rectification_map）。

For stereo setups of mixed type (i.e., for a stereo setup in which one of the original cameras is a perspective camera and the other camera is a telecentric camera; see gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMapGenBinocularRectificationMapgen_binocular_rectification_map), the rectifying plane of the two cameras is in a position with respect to the object that would lead to very unintuitive distances. Therefore, distance_to_disparitydistance_to_disparityDistanceToDisparityDistanceToDisparityDistanceToDisparitydistance_to_disparity does not support stereo setups of mixed type.

此外，同时包含配备和未配备超中心镜头的相机的立体设置不受支持。

执行信息

• 多线程类型：可重入（与非独占算子并行运行）。
• 多线程作用域：全局（可从任何线程调用）。
• 未采用并行化处理。

参数

结果

distance_to_disparitydistance_to_disparityDistanceToDisparityDistanceToDisparityDistanceToDisparitydistance_to_disparity 在所有参数值正确时返回 2 (H_MSG_TRUE)。如有必要，则抛出异常。

可能的前趋

binocular_calibrationbinocular_calibrationBinocularCalibrationBinocularCalibrationBinocularCalibrationbinocular_calibration, gen_binocular_rectification_mapgen_binocular_rectification_mapGenBinocularRectificationMapGenBinocularRectificationMapGenBinocularRectificationMapgen_binocular_rectification_map

可能的后继

binocular_disparitybinocular_disparityBinocularDisparityBinocularDisparityBinocularDisparitybinocular_disparity

模块

三维计量